Wrapper class around Motoman-specific motion control commands. More...

Public Member Functions
bool	controllerReady ()
bool	init (SmplMsgConnection *connection, int robot_id)
	MotomanMotionCtrl ()
	Default constructor.
bool	setTrajMode (bool enable)
bool	stopTrajectory ()
Static Public Member Functions
static std::string	getErrorString (const MotionReply &reply)
Protected Member Functions
bool	sendAndReceive (MotionControlCmd command, MotionReply &reply)
Protected Attributes
SmplMsgConnection *	connection_
int	robot_id_

Detailed Description

Wrapper class around Motoman-specific motion control commands.

Definition at line 51 of file motion_ctrl.h.

Constructor & Destructor Documentation

motoman::motion_ctrl::MotomanMotionCtrl::MotomanMotionCtrl ( ) [inline]

Default constructor.

Definition at line 59 of file motion_ctrl.h.

bool motoman::motion_ctrl::MotomanMotionCtrl::controllerReady ( )

Definition at line 56 of file motion_ctrl.cpp.

std::string motoman::motion_ctrl::MotomanMotionCtrl::getErrorString ( const MotionReply & reply ) [static]

Definition at line 133 of file motion_ctrl.cpp.

bool motoman::motion_ctrl::MotomanMotionCtrl::init	(	SmplMsgConnection *	connection,
		int	robot_id
	)

Definition at line 49 of file motion_ctrl.cpp.

bool motoman::motion_ctrl::MotomanMotionCtrl::sendAndReceive	(	MotionControlCmd	command,
		MotionReply &	reply
	)		`[protected]`

Definition at line 110 of file motion_ctrl.cpp.

bool motoman::motion_ctrl::MotomanMotionCtrl::setTrajMode ( bool enable )

Definition at line 71 of file motion_ctrl.cpp.

bool motoman::motion_ctrl::MotomanMotionCtrl::stopTrajectory ( )

Definition at line 91 of file motion_ctrl.cpp.

Definition at line 71 of file motion_ctrl.h.

Definition at line 72 of file motion_ctrl.h.

The documentation for this class was generated from the following files: